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Corrected tutorial's Cartesian path example #190

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davetcoleman merged 1 commit into from
Jul 10, 2018
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Corrected tutorial's Cartesian path example #190

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2 changes: 1 addition & 1 deletion doc/move_group_interface/move_group_interface_tutorial.rst
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Expand Up @@ -32,7 +32,7 @@ See the `YouTube video <https://youtu.be/_5siHkFQPBQ>`_ at the top of this tutor
1. The robot moves its arm to the pose goal to its front.
2. The robot moves its arm to the joint goal at its side.
3. The robot moves its arm back to a new pose goal while maintaining the end-effector level.
4. The robot moves its arm along the desired Cartesian path (a triangle up+forward, left, down+back).
4. The robot moves its arm along the desired Cartesian path (a triangle down, right, up+left).
5. A box object is added into the environment to the right of the arm.
|B|

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12 changes: 6 additions & 6 deletions doc/move_group_interface/src/move_group_interface_tutorial.cpp
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Expand Up @@ -247,16 +247,16 @@ int main(int argc, char** argv)

geometry_msgs::Pose target_pose3 = start_pose2;

target_pose3.position.z += 0.2;
waypoints.push_back(target_pose3); // up
target_pose3.position.z -= 0.2;
waypoints.push_back(target_pose3); // down

target_pose3.position.y -= 0.1;
waypoints.push_back(target_pose3); // left
target_pose3.position.y -= 0.2;
waypoints.push_back(target_pose3); // right

@mlautman mlautman Jul 9, 2018

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Technically this is subjective but I'll allow it 😝

@nbbrooks nbbrooks Jul 9, 2018

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If the tutorial didn't mention the box appearing on the arm's right a little bit later in the lesson I would have left this alone :P

@davetcoleman davetcoleman Jul 10, 2018

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You could have just tweaked the tutorial text to say the arm's left ;-)


target_pose3.position.z -= 0.2;
target_pose3.position.z += 0.2;
target_pose3.position.y += 0.2;
target_pose3.position.x -= 0.2;
waypoints.push_back(target_pose3); // down and right
waypoints.push_back(target_pose3); // up and left

// Cartesian motions are frequently needed to be slower for actions such as approach and retreat
// grasp motions. Here we demonstrate how to reduce the speed of the robot arm via a scaling factor
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